T-S Fuzzy-Model-Based Tracking Control of Lower Limb Exoskeleton Rehabilitation Robot

被引：1

作者：

Chen, Ming ^{[1
]}

Liu, Huaqing ^{[2
]}

Luo, Xingzhou ^{[2
]}

Mo, Yibo ^{[2
]}

Wang, Xifeng ^{[2
]}

机构：

[1] Zhejiang Univ Technol, Binjiang Inst Artificial Intelligence, Hangzhou, Peoples R China

[2] Zhejiang Univ Technol, Coll Informat Engn, Hangzhou, Peoples R China

来源：

2024 IEEE INTERNATIONAL CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS, CIS AND IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, RAM, CIS-RAM 2024 | 2024年

关键词：

lower limb; rehabilitation robot; fuzzy model; tracking control; stability analysis; STABILITY ANALYSIS;

D O I：

10.1109/CIS-RAM61939.2024.10673013

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper focuses on the tracking control design of the lower limb exoskeleton rehabilitation robot. A Takagi-Sugeno (T-S) fuzzy model of the lower limb exoskeleton rehabilitation robot is constructed. Then, a T-S fuzzy-model-based tracking control system can be formed by the T-S fuzzy model, a reference model and a tracking controller. The stability analysis of the T-S fuzzy-model-based tracking control system is performed on the basis of the Lyapunov stability theory, and stability conditions in terms of linear matrix inequalities (LMIs) are developed. Finally, the simulation results on a lower limb exoskeleton robot demonstrate the effectiveness of the proposed method.

引用

页码：81 / 86

页数：6

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